From 0d6cb46c83ef088c6dd56fb9c8a39e2e31c00adb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Wed, 5 Jul 2023 16:30:33 +0200
Subject: [PATCH] lightware_laser_i2c: add SF30/D

---
 .../lightware_laser_i2c/lightware_laser_i2c.cpp            | 7 +++++++
 .../distance_sensor/lightware_laser_i2c/parameters.c       | 1 +
 2 files changed, 8 insertions(+)

diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
index baa2649d48..aafa605768 100644
--- a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
+++ b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
@@ -195,6 +195,13 @@ int LightwareLaser::init()
 		_type = Type::LW20c;
 		break;
 
+	case 7:
+		/* SF/LW30/d (200m 49-20'000Hz) */
+		_px4_rangefinder.set_min_distance(0.2f);
+		_px4_rangefinder.set_max_distance(200.0f);
+		_conversion_interval = 20409;
+		break;
+
 	default:
 		PX4_ERR("invalid HW model %" PRId32 ".", hw_model);
 		return ret;
diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c b/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c
index c417efbe9e..b0564780be 100644
--- a/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c
+++ b/src/drivers/distance_sensor/lightware_laser_i2c/parameters.c
@@ -45,5 +45,6 @@
  * @value 4 SF11/c
  * @value 5 SF/LW20/b
  * @value 6 SF/LW20/c
+ * @value 7 SF/LW30/d
  */
 PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);